My opinion, stated above, mimick exactly the one from Chillaban.
Thanks for the info on the ultrasonic sensors. I did not know the difference so it explains the better performance.
And no, I would not say that AP2 is drunk but as others are describing, just reacting much quicker but also therefore more nervous.
While on easy road, the AP1 slower movement is definitely perceived as a positive, as others have also witnessed, the AP2 can handle better the curves, especially at high speed than the AP1.
My experience come from my brand new S75D (7000km) and a loaner S90D with AP1 (2000km) with 80% highway so a lot of trial on the highway with AP.